Merge branch 'master' into call-method

murrayrm · Jan 8, 2021 · Aug 14, 2020 · Aug 16, 2020 · Aug 16, 2020 · Aug 16, 2020
commit 8c9571d1ec6be3af945f9643c8dffcdcfe901bfe
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -138,14 +138,14 @@ def bode_plot(syslist, omega=None,
 
     Notes
     -----
-    1. Alternatively, you may use the lower-level method (mag, phase, freq)
-    = sys.frequency_response(freq) to generate the frequency response for a system,
-    but it returns a MIMO response.
+    1. Alternatively, you may use the lower-level methods
+       :meth:`LTI.frequency_response` or ``sys(s)`` or ``sys(z)`` or to 
+       generate the frequency response for a single system.
 
     2. If a discrete time model is given, the frequency response is plotted
-       along the upper branch of the unit circle, using the mapping z = exp(j
-       \\omega dt) where omega ranges from 0 to pi/dt and dt is the discrete
-       timebase.  If not timebase is specified (dt = True), dt is set to 1.
+       along the upper branch of the unit circle, using the mapping ``z = exp(1j
+       * omega * dt)`` where `omega` ranges from 0 to `pi/dt` and `dt` is the discrete
+       timebase.  If timebase not specified (``dt=True``), `dt` is set to 1.
 
     Examples
     --------